## RotMat:

Path: Common/Transform

```--------------------------------------------------------------------------
Generates a rotation matrix that transforms in the opposite direction
of the rotation. Angle may be one to three. Axis gives the order of
transformation. For example:

axis = [1;2;3]

then b = b(3)*b(2)*b(1)

and v            = b*v
unrotated        rotated

If angle has more than one column, then b will be

[b1, b2, b3, ..., bn]

and each row of bK will give the column indices of the
corresponding transformation matrix. For example, to get the
3rd transformation matrix type

b(:,bK(3,:))

--------------------------------------------------------------------------
Form:
[b, bK] = RotMat( angle, axis )
--------------------------------------------------------------------------

------
Inputs
------
axis        (:,n)            Axis of rotation

-------
Outputs
-------
b           (3,n)            Transformation matrix
bK          (3,n)            Indexes to n

--------------------------------------------------------------------------
```

## Children:

```Math: Linear/DupVect
```

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